CN112168354B - Waterproof and lightweight surgical robot actuator and surgical robot system - Google Patents
Waterproof and lightweight surgical robot actuator and surgical robot system Download PDFInfo
- Publication number
- CN112168354B CN112168354B CN202011099487.5A CN202011099487A CN112168354B CN 112168354 B CN112168354 B CN 112168354B CN 202011099487 A CN202011099487 A CN 202011099487A CN 112168354 B CN112168354 B CN 112168354B
- Authority
- CN
- China
- Prior art keywords
- surgical
- waterproof
- surgical robot
- lightweight
- cushion block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001356 surgical procedure Methods 0.000 claims abstract description 10
- 239000012528 membrane Substances 0.000 claims description 20
- 239000012636 effector Substances 0.000 claims description 16
- 239000007788 liquid Substances 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 7
- 230000003902 lesion Effects 0.000 claims description 7
- 238000005406 washing Methods 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 239000007769 metal material Substances 0.000 claims description 6
- 238000012806 monitoring device Methods 0.000 claims description 6
- 239000004033 plastic Substances 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 4
- 239000002861 polymer material Substances 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000011010 flushing procedure Methods 0.000 description 4
- 210000003734 kidney Anatomy 0.000 description 4
- 239000000243 solution Substances 0.000 description 4
- 238000004078 waterproofing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
- 239000010839 body fluid Substances 0.000 description 1
- 238000007675 cardiac surgery Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011902 gastrointestinal surgery Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000002504 physiological saline solution Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0807—Indication means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2217/00—General characteristics of surgical instruments
- A61B2217/002—Auxiliary appliance
- A61B2217/007—Auxiliary appliance with irrigation system
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Gynecology & Obstetrics (AREA)
- Radiology & Medical Imaging (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (23)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011099487.5A CN112168354B (en) | 2020-10-14 | 2020-10-14 | Waterproof and lightweight surgical robot actuator and surgical robot system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011099487.5A CN112168354B (en) | 2020-10-14 | 2020-10-14 | Waterproof and lightweight surgical robot actuator and surgical robot system |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112168354A CN112168354A (en) | 2021-01-05 |
CN112168354B true CN112168354B (en) | 2021-07-16 |
Family
ID=73950219
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011099487.5A Active CN112168354B (en) | 2020-10-14 | 2020-10-14 | Waterproof and lightweight surgical robot actuator and surgical robot system |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112168354B (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113100946B (en) * | 2021-03-30 | 2023-09-01 | 北京科迈启元科技有限公司 | Highly integrated surgical robot actuator and surgical robot system |
CN114770573B (en) * | 2022-04-07 | 2024-04-09 | 北京科迈玄机医疗科技有限公司 | Transurethral surgical robot actuator with detachable and static waterproof structure |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104840175A (en) * | 2014-02-19 | 2015-08-19 | 光峰科技股份有限公司 | Digestive tract inspection device with disposable endoscope and control method thereof |
CN104840176A (en) * | 2014-02-19 | 2015-08-19 | 光峰科技股份有限公司 | Digestive tract inspection system and control method thereof |
CN105943160A (en) * | 2016-06-30 | 2016-09-21 | 北京工业大学 | Aorta covered stent interventional operation simulator |
CN106132224A (en) * | 2015-02-06 | 2016-11-16 | 索尼公司 | Operation face guard, operation framework, operation polarization screen shield and surgery systems |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011116332A2 (en) * | 2010-03-18 | 2011-09-22 | SPI Surgical, Inc. | Surgical cockpit comprising multisensory and multimodal interfaces for robotic surgery and methods related thereto |
CA2822287C (en) * | 2010-12-22 | 2020-06-30 | Viewray Incorporated | System and method for image guidance during medical procedures |
US10667673B2 (en) * | 2014-10-23 | 2020-06-02 | Koninklijke Philips N.V. | Handheld catheter driver with endoscope mount utilizing friction-driven wheel mechanism |
CN107249491A (en) * | 2015-06-01 | 2017-10-13 | 奥林巴斯株式会社 | Medical manipulator |
CN105105849B (en) * | 2015-07-22 | 2017-05-10 | 北京航空航天大学 | End effector of robot in anterior cruciate ligament reconstruction |
CN110074867A (en) * | 2019-06-06 | 2019-08-02 | 王君臣 | A kind of percutaneous nephrolithy surgical robot system |
-
2020
- 2020-10-14 CN CN202011099487.5A patent/CN112168354B/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104840175A (en) * | 2014-02-19 | 2015-08-19 | 光峰科技股份有限公司 | Digestive tract inspection device with disposable endoscope and control method thereof |
CN104840176A (en) * | 2014-02-19 | 2015-08-19 | 光峰科技股份有限公司 | Digestive tract inspection system and control method thereof |
CN106132224A (en) * | 2015-02-06 | 2016-11-16 | 索尼公司 | Operation face guard, operation framework, operation polarization screen shield and surgery systems |
CN105943160A (en) * | 2016-06-30 | 2016-09-21 | 北京工业大学 | Aorta covered stent interventional operation simulator |
Also Published As
Publication number | Publication date |
---|---|
CN112168354A (en) | 2021-01-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20220087760A1 (en) | Articulating medical instruments | |
AU2018347464B2 (en) | Image-based branch detection and mapping for navigation | |
US20200281787A1 (en) | Tilt mechanisms for medical systems and applications | |
JP2024001343A (en) | System and method for docking medical device | |
JP4398184B2 (en) | Endoscope | |
CN112168354B (en) | Waterproof and lightweight surgical robot actuator and surgical robot system | |
WO2019191143A1 (en) | Systems and methods for displaying estimated location of instrument | |
US20090030276A1 (en) | Tissue visualization catheter with imaging systems integration | |
WO2018055950A1 (en) | Control device, control method, and medical system | |
CN218226693U (en) | Transurethral surgery robot actuator with easily-detachable waterproof structure | |
US20220031402A1 (en) | Image reliability determination for instrument localization | |
CN113100946B (en) | Highly integrated surgical robot actuator and surgical robot system | |
CN113729970A (en) | Surgical robot, surgical instrument, and force transmission device | |
CN112450996A (en) | Flexible endoscope operation executor and operation robot system | |
US20220322920A1 (en) | Endoscope Steering Mechanism with Everted Tube Introducer | |
US6932089B1 (en) | Remotely controllable system for positioning on a patient an observation/intervention device | |
CN213758535U (en) | Waterproof and lightweight surgical robot actuator | |
KR20140130815A (en) | Trocar for surgery and method for obtaining image using the same | |
CN214549342U (en) | Soft endoscope operation executor | |
CN114770573B (en) | Transurethral surgical robot actuator with detachable and static waterproof structure | |
US20210205040A1 (en) | Foot pedal assemblies with indicators for robotic medical systems | |
CN115919475A (en) | Split type soft endoscope operation robot system | |
EP4316341A1 (en) | Power-providing device for medical device | |
EP4316344A1 (en) | Endoscope controlled by power receptor | |
JP2010518954A (en) | Visual servo controlled flexible endoscope apparatus and method for stabilizing such apparatus |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220210 Address after: Room 3046, floor 3, building 1, No. 1, Desheng South Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing 100176 Patentee after: Beijing Kemai Xuanji Medical Technology Co.,Ltd. Address before: 100192 floor 230, building 2, Tiandi Linfeng, No.1, yongtaizhuang North Road, Haidian District, Beijing Patentee before: Beijing Kemai Qiyuan Technology Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220609 Address after: 100192 floor 230, building 2, Tiandi Linfeng, No.1, yongtaizhuang North Road, Haidian District, Beijing Patentee after: Beijing Kemai Qiyuan Technology Co.,Ltd. Address before: Room 3046, floor 3, building 1, No. 1, Desheng South Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing 100176 Patentee before: Beijing Kemai Xuanji Medical Technology Co.,Ltd. |
|
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20210105 Assignee: Beijing Kemai Xuanji Medical Technology Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2022990000742 Denomination of invention: Waterproof and lightweight surgical robot actuator and surgical robot system Granted publication date: 20210716 License type: Exclusive License Record date: 20221009 |
|
EE01 | Entry into force of recordation of patent licensing contract | ||
EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Beijing Kemai Xuanji Medical Technology Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2022990000742 Date of cancellation: 20230823 |
|
EC01 | Cancellation of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20210105 Assignee: Beijing Kepeng Medical Equipment Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2023990000772 Denomination of invention: Waterproof and lightweight surgical robot actuators and surgical robot systems Granted publication date: 20210716 License type: Common License Record date: 20230823 |
|
EE01 | Entry into force of recordation of patent licensing contract | ||
EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Beijing Kepeng Medical Equipment Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2023990000772 Date of cancellation: 20231007 |
|
EC01 | Cancellation of recordation of patent licensing contract |